COMPUTER SYSTEM AND CONTROL METHOD FOR ROBOT
To achieve automatic control of a robot by using an existing model without performing relearning.SOLUTION: A computer system generates a transformation formula for transforming measurement data acquired by a sensor such that a second dynamical system matches a first dynamical system on the basis of...
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| Format: | Patent |
| Sprache: | eng ; jpn |
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| Zusammenfassung: | To achieve automatic control of a robot by using an existing model without performing relearning.SOLUTION: A computer system generates a transformation formula for transforming measurement data acquired by a sensor such that a second dynamical system matches a first dynamical system on the basis of a difference between the first dynamical system, representing work in a learning environment, and the second dynamical system, representing work in a control environment, transforms the measurement data by using the transformation formula, inputs the transformed measurement data to a model, and controls a robot on the basis of an output from the model.SELECTED DRAWING: Figure 1
【課題】再学習を行うことなく、既存のモデルを用いてロボットの自動制御を実現する。【解決手段】計算機システムは、学習環境における作業を表す第１力学系と、制御環境における作業を表す第２力学系との差異に基づいて、第２力学系が第１力学系に一致するように、センサが取得した計測データを変換するための変換式を生成し、変換式を用いて計測データを変換し、変換された計測データをモデルに入力し、モデルの出力に基づいて、ロボットを制御する。【選択図】 図１ |
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